WO2021153359A1 - ロボットのキャリブレーション装置 - Google Patents

ロボットのキャリブレーション装置 Download PDF

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Publication number
WO2021153359A1
WO2021153359A1 PCT/JP2021/001740 JP2021001740W WO2021153359A1 WO 2021153359 A1 WO2021153359 A1 WO 2021153359A1 JP 2021001740 W JP2021001740 W JP 2021001740W WO 2021153359 A1 WO2021153359 A1 WO 2021153359A1
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WO
WIPO (PCT)
Prior art keywords
calibration
rotation axis
jig
axis
robot
Prior art date
Application number
PCT/JP2021/001740
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English (en)
French (fr)
Japanese (ja)
Inventor
健 蓮尾
Original Assignee
ファナック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ファナック株式会社 filed Critical ファナック株式会社
Priority to US17/792,043 priority Critical patent/US12390932B2/en
Priority to JP2021574660A priority patent/JP7410189B2/ja
Priority to CN202180010498.8A priority patent/CN114981042A/zh
Priority to DE112021000759.9T priority patent/DE112021000759T5/de
Publication of WO2021153359A1 publication Critical patent/WO2021153359A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Definitions

  • This disclosure relates to a robot calibration device.
  • a calibration device for a vertical 6-axis articulated robot is known (see, for example, Patent Document 1).
  • This calibration device detects the posture formed by the three planes of the jig between the jig having three planes orthogonal to each other and the reference plane in the orthogonal space coordinate system set on the fixed base of the robot. It has the means. According to this calibration device, all axes of the vertical 6-axis articulated robot can be calibrated at once.
  • the calibration device of Patent Document 1 cannot calibrate each axis of the robot having less than 6 axes. Therefore, a calibration device capable of calibrating each axis of the robot having a number of axes less than 6 axes is desired.
  • One aspect of the present disclosure includes a linear motion axis that moves a slider along a straight line with respect to a base, and a tip axis that is rotatably supported around a rotation axis with respect to the slider of the linear motion axis.
  • a robot calibrating device including a first calibrating jig fixed to the tip shaft and a second calibrating jig fixed to the base, and the first calibrating jig holds the rotation axis.
  • the second calibration jig is provided with a first calibration surface formed of a plane including the plane or a plane parallel to the plane, and a second calibration surface that does not change even if only the first calibration jig rotates around the rotation axis.
  • the position of the first calibration surface when the first calibration jig is rotated around the rotation axis and the position of the second calibration surface when the first calibration jig is moved along the straight line. It is a robot calibration device that detects the position.
  • FIG. 5 is a side view showing a state in which the slider of the robot equipped with the calibration device of FIG. 1 is operated to bring the first dial gauge into contact with the second calibration surface. It is a side view which shows the state which moved the 1st dial gauge on the 1st calibration plane from the state of FIG. 5, and calibrated the linear motion shaft.
  • the robot calibration device 1 according to the embodiment of the present disclosure will be described below with reference to the drawings.
  • the robot 100 to which the calibration device 1 according to the present embodiment is applied is, for example, a two-axis robot including one linear motion axis 101 and one tip axis 102, as shown in FIG.
  • This robot 100 is used as a tool by fixing the linear motion shaft 101 to the wrist tip surface 110 of the 6-axis articulated robot, for example, as shown in FIG.
  • the normal direction of the wrist tip surface 110 of the 6-axis articulated robot is defined as the Z axis
  • the direction orthogonal to the Z axis is defined as the X axis
  • the directions orthogonal to the X axis and the Z axis are defined as the Y axis. ..
  • the position indicated by hatching is the mounting position of the 6-axis articulated robot on the wrist tip surface 110.
  • the linear motion shaft 101 includes a base 103 fixed to the wrist tip surface 110 of a 6-axis articulated robot, and a slider 104 movably supported in the X (one straight line) direction with respect to the base 103. There is.
  • a linear motion mechanism (not shown) for driving the slider 104 is built in the base 103.
  • the tip shaft 102 includes, for example, a tip movable portion 105 rotatably supported around the rotation axis A with respect to the slider 104.
  • a rotation mechanism (not shown) for rotationally driving the tip movable portion 105 is built in the slider 104.
  • the rotation axis A extends in the Y-axis direction. That is, the rotation axis A extends in a direction along a plane orthogonal to the X axis, which is the moving direction of the slider 104.
  • the calibration device 1 includes a first calibration jig 2 fixed to the tip movable portion 105 and a second calibration jig 3 fixed to the base 103. It has.
  • the first calibration jig 2 has a first calibration surface 4 formed of a plane parallel to the rotation axis A and a second calibration surface 5 composed of a cylindrical surface extending substantially half a circumference around the rotation axis A. And have.
  • the first calibration surface 4 extends tangentially to the second calibration surface 5 and is smoothly connected to the second calibration surface 5.
  • the first calibration jig 2 is rotated around the rotation axis A by the operation of the tip movable portion 105, so that the first calibration surface 4 is arranged at a position extending in the X-axis direction, and the second comparison is made.
  • the front surface 5 also functions as an inclined surface adjacent to the end portion of the first calibration surface 4 in the X-axis direction. Since the second calibration surface 5 is formed of a cylindrical surface around the rotation axis A, it is a surface that does not change even if the first calibration jig 2 is rotated around the rotation axis A.
  • the second calibration jig 3 has a bracket 6 that is detachably fixed to the mounting portion of the base 103 by, for example, a screw (not shown) or the like, and 2 that is fixed to the bracket 6. It is equipped with two dial gauges (first detector, second detector) 7 and 8. The bracket 6 is fixed in a state of being accurately positioned on the base 103. The two dial gauges 7 and 8 are fixed in a state where the tip positions of the plungers 9 and 10 are accurately positioned with respect to the bracket 6.
  • the second dial gauge 8 is fixed at a position where the plunger 10 appears and disappears in the X-axis direction in the XY plane including the rotation axis A. More specifically, the second dial gauge 8 has a predetermined value, for example, in a state where the linear motion shaft 101 is operated and the slider 104 is arranged at a predetermined calibration position, for example, the origin position of the linear motion shaft 101. It is fixed at the position indicating ⁇ 0.0.
  • the first dial gauge 7 is arranged at a position farther from the origin position of the linear motion shaft 101 than the second dial gauge 8. As shown in FIG. 3, the first dial gauge 7 has a predetermined value in a state where the tip shaft 102 is operated and the first calibration surface 4 of the first calibration jig 2 is arranged parallel to the XY plane. For example, it is fixed at a position indicating ⁇ 0.0. In FIG. 3, the bracket 6 is not shown for the sake of clarity.
  • the tip of the first dial gauge 7 When the slider 104 is brought closer to the calibration position of the linear motion shaft 101, the tip of the first dial gauge 7 first comes into contact with the second calibration surface 5 of the first calibration jig 2 as shown in FIG. do. Since the second calibration surface 5 is formed of a cylindrical surface, the plunger 9 of the first dial gauge 7 is pushed in the contracting direction as the slider 104 approaches the calibration position of the linear motion shaft 101. Since the second calibration surface 5 is smoothly connected to the first calibration surface 4, when the slider 104 is further brought closer to the calibration position of the linear motion shaft 101, the tip of the plunger 9 of the first dial gauge 7 is shown in FIG. As shown in, it moves from the second calibration surface 5 onto the first calibration surface 4.
  • the first calibration surface 4 is arranged substantially parallel to the XY plane, even if only the slider 104 moves after the tip of the plunger 9 of the first dial gauge 7 moves onto the first calibration surface 4, the first is 2 The reading of the dial gauge 8 does not fluctuate significantly. Then, when the slider 104 is arranged near the calibration position of the linear motion shaft 101, the tip of the second dial gauge 8 comes into contact with the second calibration surface 5 as shown in FIG. Since the tip of the plunger 10 of the second dial gauge 8 is arranged on the XY plane including the rotation axis A, the plunger 10 of the second dial gauge 8 is arranged flush with the second calibration surface 5.
  • the linear motion shaft 101 is calibrated by moving the slider 104 to a position where the reading of the second dial gauge 8 reaches a predetermined value (for example, ⁇ 0.0).
  • the tip shaft 102 is moved by rotating the tip movable portion 105 as shown by an arrow in FIG. 7 to a position where the reading of the first dial gauge 7 reaches a predetermined value (for example, ⁇ 0.0). It is calibrated.
  • the second calibration surface 5 is composed of a cylindrical surface around the rotation axis A
  • only the tip shaft 102 is operated to move the first calibration jig 2 to the rotation axis.
  • the position of the second calibration surface 5 itself does not change even if it is rotated around A. Therefore, even when the tip shaft 102 is not calibrated, the tip of the second dial gauge 8 can be brought into contact with the second calibration surface 5 to calibrate the linear motion shaft 101, and then the first comparison can be performed.
  • the tip shaft 102 can be calibrated by rotating the positive jig 2.
  • the linear motion shaft 101 is calibrated first, and then the tip shaft 102 is calibrated, but the reverse is also possible. That is, in a state where the linear motion shaft 101 is operated and the slider 104 is moved to the vicinity of the calibration position of the linear motion axis 101, first, the first calibration jig 2 is rotated around the rotation axis A to form the first calibration surface 4. Is placed exactly parallel to the XY plane. As a result, the tip shaft 102 is calibrated. Next, the slider 104 is moved to a position where the reading of the second dial gauge 8 reaches a predetermined value (for example, ⁇ 0.0).
  • a predetermined value for example, ⁇ 0.0
  • the calibration device 1 not only the case where the linear motion shaft 101 and the tip shaft 102 are calibrated at the same time, but also only one of them can be calibrated.
  • the linear motion shaft 101 and the tip shaft 102 are calibrated at the same time, but also only one of them can be calibrated.
  • maintenance of only one axis may be required due to contact with a peripheral object or the like. In such a case, it is possible to calibrate only the shaft that requires maintenance.
  • the cylindrical surface forming the second calibration surface 5 constitutes an inclined surface that guides the first dial gauge 7 to the first calibration surface 4.
  • an inclined surface made of a curved surface or a flat surface that smoothly connects to both calibration surfaces may be adopted between the first calibration surface 4 and the second calibration surface 5.
  • the tip movable portion 105 is rotated around the rotation axis A extending in the Y-axis direction as the tip shaft 102.
  • it may be applied to a robot 100 having a tip shaft 102 that rotates the tip movable portion 105 around a rotation axis extending in the X-axis direction or the Z-axis direction.
  • the first calibration surface 4 uses the same plane as described above of the first calibration jig 2, and the second comparison is made.
  • the front surface 5 a plane orthogonal to the X-axis of the first calibration jig 2 may be used.
  • the second calibration surface 5 can be a surface that does not change only by the rotation around the rotation axis A of the first calibration jig 2, and the linear motion shaft 101 and the tip shaft 102 are calibrated simultaneously or individually. be able to.
  • Reference numeral 11 in the drawing is an inclined surface that guides the first dial gauge 7 to the first calibration surface 4.
  • the robot 100 has a single linear motion shaft 101 and a single tip shaft 102 has been described. Instead, as shown in FIG. 9, it is applied to a robot 100 having two linear motion axes 111 and 112 and a tip axis 102 capable of moving the sliders 113 and 114 in directions orthogonal to each other. You may.
  • the first calibration jig 2 has a first calibration surface 4 parallel to a plane including the rotation axis A, a second calibration surface 5 composed of a cylindrical surface around the rotation axis A, and a rotation axis A.
  • a third calibration surface 12 that is orthogonal to each other is provided.
  • first linear motion shaft 111 is supported by a first base 115 fixed to the wrist tip surface 110 of the robot 100 and a first slider 113 movably supported by the first base 115 along a first straight line. And have.
  • the second linear motion axis 112 is supported by a second base 116 fixed to the first slider 113 and a second slider movably supported along a second straight line orthogonal to the first straight line with respect to the second base 116. It is equipped with 114.
  • the tip shaft 102 includes a tip movable portion 105 rotatably supported around the rotation axis A with respect to the second slider 114.
  • the three dial gauges 7, 8 and 13 are the positions of the first dial gauge 7 for detecting the position of the first calibration surface 4, the second dial gauge 8 for detecting the position of the second calibration surface 5, and the position of the third calibration surface 12. Is the third dial gauge 13 for detecting.
  • the first calibration jig 2 has an inclined surface 11 that allows the first dial gauge 7 to ride on the first calibration surface 4 from the third calibration surface 12 side, and a third comparison of the third dial gauge 13 from the second calibration surface 5 side. It is provided with an inclined surface 14 for riding on the front surface 12.
  • a cylindrical surface constituting the second calibration surface 5 is used as an inclined surface on which the first dial gauge 7 rides on the first calibration surface 4 from the side of the second calibration surface 5.
  • the second calibration surface 5 and the third calibration surface 12 are surfaces that do not change even if the first calibration jig 2 is rotated around the rotation axis A when the tip shaft 102 is calibrated using the first calibration surface 4. It is composed of.
  • the first calibration surface 4 and the third calibration surface 12 are placed at roughly calibrated positions, and the second slider 114 of the second linear motion shaft 112 is placed. Move in the Y-axis direction.
  • the first dial gauge 7 is made to ride on the first calibration surface 4 by the inclination of the second calibration surface 5
  • the third dial gauge 13 is made to ride on the third calibration surface 12 by the inclination surface 14. Then, when the plunger 10 of the second dial gauge 8 is pushed by the second calibration surface 5 and the reading of the second dial gauge 8 reaches a predetermined value (for example, ⁇ 0.0), the second linear motion shaft 112 is calibrated.
  • a predetermined value for example, ⁇ 0.0
  • the first calibration jig 2 is rotated around the rotation axis A, and the reading of the first dial gauge 7 is a predetermined value (for example, at a position where the first calibration surface 4 is exactly parallel to the XY plane). ⁇ 0.0), and the tip shaft 102 is calibrated. Further, the first slider 113 of the first linear motion shaft 111 is moved in the X-axis direction. Then, when the plunger 15 of the third dial gauge 13 is pushed by the third calibration surface 12 and the reading of the third dial gauge 13 reaches a predetermined value (for example, ⁇ 0.0), the first linear motion shaft 111 is calibrated.
  • dial gauges 7, 8 and 13 are used as the detection means, but the present invention is not limited to this, and any other contact type or non-contact type detection means may be used. ..
  • the operator may be performed by the operator to determine whether or not the calibration has been performed by reading the dial gauges 7, 8 and 13, or an electric signal is output from the dial gauges 7, 8 and 13 and the output electricity is output. It may be determined by the processor based on the signal.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/001740 2020-01-27 2021-01-20 ロボットのキャリブレーション装置 WO2021153359A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US17/792,043 US12390932B2 (en) 2020-01-27 2021-01-20 Robot calibration device
JP2021574660A JP7410189B2 (ja) 2020-01-27 2021-01-20 ロボットのキャリブレーション装置
CN202180010498.8A CN114981042A (zh) 2020-01-27 2021-01-20 机器人的校准装置
DE112021000759.9T DE112021000759T5 (de) 2020-01-27 2021-01-20 Roboterkalibriervorrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020010764 2020-01-27
JP2020-010764 2020-01-27

Publications (1)

Publication Number Publication Date
WO2021153359A1 true WO2021153359A1 (ja) 2021-08-05

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PCT/JP2021/001740 WO2021153359A1 (ja) 2020-01-27 2021-01-20 ロボットのキャリブレーション装置

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US (1) US12390932B2 (enrdf_load_stackoverflow)
JP (1) JP7410189B2 (enrdf_load_stackoverflow)
CN (1) CN114981042A (enrdf_load_stackoverflow)
DE (1) DE112021000759T5 (enrdf_load_stackoverflow)
WO (1) WO2021153359A1 (enrdf_load_stackoverflow)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7410189B2 (ja) * 2020-01-27 2024-01-09 ファナック株式会社 ロボットのキャリブレーション装置
CN115648285B (zh) * 2022-09-19 2023-07-21 重庆智能机器人研究院 机器人本体零点外部校准方法

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JPH068185A (ja) * 1992-06-29 1994-01-18 Fanuc Ltd 産業用ロボットの付加二軸装置のマスタリング装置
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JP2012040637A (ja) * 2010-08-18 2012-03-01 Iai:Kk 制御装置、産業用ロボット、座標系の再現方法、及びプログラム

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JP7410189B2 (ja) * 2020-01-27 2024-01-09 ファナック株式会社 ロボットのキャリブレーション装置
JP2024113790A (ja) * 2023-02-10 2024-08-23 セイコーエプソン株式会社 キャリブレーション方法、キャリブレーション装置およびロボットシステム
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JPS6020878A (ja) * 1983-07-15 1985-02-02 ファナック株式会社 工業用ロボットの基準位置決め装置
JPS61209825A (ja) * 1985-05-16 1986-09-18 Fujitsu Ltd 穴識別方法
JPH068185A (ja) * 1992-06-29 1994-01-18 Fanuc Ltd 産業用ロボットの付加二軸装置のマスタリング装置
JPH0791947A (ja) * 1993-09-22 1995-04-07 Nissan Motor Co Ltd 計測用ロボットの異常検出方法
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US12390932B2 (en) 2025-08-19
JP7410189B2 (ja) 2024-01-09
CN114981042A (zh) 2022-08-30
DE112021000759T5 (de) 2023-01-26
US20230038142A1 (en) 2023-02-09
JPWO2021153359A1 (enrdf_load_stackoverflow) 2021-08-05

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